version: 66.03
glider: 16
mission: 9
dive: 183
start: 7 14 108 5 43 24
data:
$ID,16
$MISSION,9
$DIVE,183
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,557.32159
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2096837.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,052458,6257.832,-1310.148,34,4.4,54,-12.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-51.3
$GPS2,054303,6257.806,-1309.895,18,2.0,18,-12.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,4.5,32126,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,167,0.00,0.00,-140.88,0.000,6,0.000,0.000,70,2229,3379
$GC,171,-0.85,-146.6,6.1,-5.4,7,192,11.50,2.67,0.00,0.000,4,0.172,0.064,2111,815,3381
$GC,271,-0.71,-146.6,29.6,-11.8,11,277,0.17,2.60,0.00,0.000,6,0.095,0.054,2146,2228,3381
$GC,588,-0.62,-146.6,58.6,-8.7,26,592,0.00,2.67,0.00,0.000,4,0.000,0.073,2146,3648,3381
$GC,628,-0.53,-146.6,61.9,-8.1,28,633,0.20,2.58,0.00,0.000,6,0.090,0.052,2185,2230,3381
$GC,955,-0.53,-146.6,87.4,-7.9,44,959,0.00,2.60,0.00,0.000,4,0.000,0.062,2185,816,3380
$GC,1022,-0.62,-146.6,92.9,-8.0,47,1026,0.00,2.60,0.00,0.000,6,0.000,0.051,2185,2239,3381
$GC,1344,-0.67,-146.6,116.3,-6.9,63,1349,0.15,2.65,0.00,0.000,4,0.041,0.074,2131,3643,3380
$GC,1400,-0.54,-146.6,122.0,-10.3,65,1407,0.25,2.58,0.00,0.000,6,0.084,0.052,2181,2222,3380
$GC,1716,-0.54,-146.6,144.9,-7.5,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2222,3380
$GC,2025,-0.54,-146.6,165.2,-6.0,96,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2222,3380
$GC,2335,-0.54,-146.6,184.0,-5.9,111,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2222,3380
$GC,2645,-0.54,-146.6,202.2,-5.9,126,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2221,3380
$GC,2953,-0.54,-146.6,221.1,-6.2,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2222,3381
$GC,3262,-0.58,-146.6,240.2,-6.1,156,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2221,3381
$GC,3573,-0.63,-146.6,258.6,-6.0,171,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2222,3380
$GC,3881,-0.67,-146.6,279.7,-7.2,186,3883,0.12,0.00,0.00,0.000,6,0.046,0.000,2139,2222,3380
$GC,4190,-0.59,-146.6,308.3,-9.2,201,4192,0.15,0.00,0.00,0.000,6,0.085,0.000,2169,2222,3380
$GC,4499,-0.59,-146.6,334.0,-8.3,216,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3380
$GC,4809,-0.59,-146.6,357.8,-7.3,231,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3380
$GC,5118,-0.59,-146.6,379.6,-6.8,246,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3379
$GC,5428,-0.59,-146.6,400.7,-6.8,261,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2222,3379
$GC,5736,-0.59,-146.6,420.3,-6.1,276,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3379
$GC,6046,-0.59,-146.6,439.6,-6.2,291,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3380
$GC,6355,-0.59,-146.6,459.0,-6.5,306,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2221,3380
$GC,6664,-0.59,-146.6,480.0,-6.7,321,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3379
$GC,6973,-0.59,-146.6,503.2,-7.4,336,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2222,3379
$GC,7283,-0.59,-146.6,526.7,-7.4,351,7288,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,811,3379
$GC,7339,-0.66,-146.6,531.1,-7.8,353,7345,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,2231,3379
$GC,7655,-0.66,-146.6,552.5,-6.3,369,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2232,3379
$GC,7964,-0.66,-146.6,572.0,-6.4,384,7969,0.00,2.65,0.00,0.000,4,0.000,0.077,2168,3641,3379
$GC,8010,-0.66,-146.6,575.1,-7.6,386,8014,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2220,3379
$GC,8330,-0.66,-146.6,595.8,-6.2,402,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2220,3377
$GC,8640,-0.66,-146.6,615.4,-6.6,417,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2220,3378
$GC,8949,-0.66,-146.6,636.0,-6.4,432,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2220,3378
$GC,9258,-0.66,-146.6,656.3,-6.7,447,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2220,3378
$GC,9572,-0.71,-146.6,676.3,-6.9,462,9577,0.12,2.67,0.00,0.000,4,0.047,0.078,2128,3641,3378
$GC,9612,-0.60,-146.6,680.1,-9.6,464,9618,0.20,2.55,0.00,0.000,6,0.087,0.052,2167,2231,3378
$GC,9940,-0.65,-146.6,701.7,-6.0,480,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3377
$GC,10249,-0.70,-146.6,720.5,-6.1,495,10253,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,820,3377
$GC,10298,-0.80,-146.6,724.3,-8.0,497,10304,0.20,2.58,0.00,0.000,6,0.041,0.056,2110,2232,3377
$STATE,10508,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10508,begin apogee
$GC,10515,-0.31,0.0,743.5,8.6,507,10651,0.60,0.00,131.60,1.122,6,0.095,0.000,2230,2231,2781
$STATE,10652,end apogee,CONTROL_FINISHED_OK
$STATE,10652,begin climb
$GC,10655,0.85,146.6,749.9,0.0,514,10790,1.17,0.00,131.07,1.102,6,0.075,0.000,2480,2231,2183
$GC,11086,0.92,212.3,738.0,4.2,535,11148,0.00,0.00,58.72,1.085,6,0.000,0.000,2480,2232,1915
$GC,11460,0.98,212.3,716.9,6.9,553,11465,0.15,2.62,0.00,0.000,4,0.056,0.066,2522,830,1914
$GC,11568,0.92,212.3,707.4,8.4,558,11572,0.00,2.62,0.00,0.000,6,0.000,0.057,2522,2243,1913
$GC,11895,0.87,212.3,683.9,6.5,574,11900,0.17,2.67,0.00,0.000,4,0.091,0.067,2484,824,1914
$GC,11968,0.93,212.3,679.4,6.4,577,11972,0.00,2.62,0.00,0.000,6,0.000,0.057,2484,2243,1912
$GC,12284,0.99,212.3,660.3,6.2,592,12285,0.15,0.00,0.00,0.000,6,0.051,0.000,2522,2243,1912
$GC,12593,0.95,212.3,638.5,6.6,607,12597,0.00,2.65,0.00,0.000,4,0.000,0.080,2522,3649,1911
$GC,12649,0.87,212.3,634.4,7.2,609,12655,0.17,2.60,0.00,0.000,6,0.094,0.057,2488,2235,1911
$GC,12965,0.93,269.4,619.1,4.4,625,13017,0.00,0.00,50.75,1.045,6,0.000,0.000,2488,2235,1682
$GC,13314,1.03,276.7,600.7,5.8,642,13328,0.17,2.70,7.80,0.871,4,0.053,0.065,2530,827,1654
$GC,13380,1.03,276.7,595.6,7.7,645,13385,0.00,2.60,0.00,0.000,6,0.000,0.054,2530,2240,1652
$GC,13707,1.03,276.7,570.3,7.8,661,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1652
$GC,14017,1.03,276.7,544.8,8.4,676,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1652
$GC,14326,1.03,276.7,519.6,8.0,691,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1652
$GC,14635,1.03,276.7,495.3,7.6,706,14640,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,820,1652
$GC,14691,1.03,276.7,491.1,7.6,708,14697,0.00,2.60,0.00,0.000,6,0.000,0.051,2530,2245,1652
$GC,15007,1.03,276.7,467.3,7.6,724,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2245,1653
$GC,15316,1.03,276.7,443.0,8.2,739,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2245,1653
$GC,15626,1.03,276.7,418.7,8.1,754,15630,0.00,2.65,0.00,0.000,4,0.000,0.076,2530,3651,1653
$GC,15665,1.03,276.7,415.4,8.5,756,15670,0.00,2.58,0.00,0.000,6,0.000,0.054,2530,2243,1654
$GC,15992,1.03,276.7,389.4,7.8,772,15996,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,818,1654
$GC,16036,1.03,276.7,385.5,9.1,774,16040,0.00,2.60,0.00,0.000,6,0.000,0.051,2530,2247,1654
$GC,16357,1.03,276.7,359.3,8.1,790,16358,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,1654
$GC,16666,1.03,276.7,333.4,8.3,805,16667,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,1655
$GC,16975,1.03,276.7,308.2,8.1,820,16979,0.00,2.62,0.00,0.000,4,0.000,0.063,2530,823,1655
$GC,17019,1.03,276.7,304.6,7.8,822,17023,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2241,1655
$GC,17340,1.03,276.7,278.8,8.2,838,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1655
$GC,17649,1.03,276.7,253.6,8.2,853,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2240,1655
$GC,17959,1.03,276.7,229.5,7.6,868,17960,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2240,1656
$GC,18267,1.03,276.7,206.3,7.5,883,18272,0.00,2.60,0.00,0.000,4,0.000,0.061,2530,824,1656
$GC,18318,1.03,276.7,202.4,8.1,885,18322,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2245,1656
$GC,18634,1.03,276.7,178.3,8.0,900,18635,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2244,1655
$GC,18942,1.03,276.7,154.5,7.5,915,18944,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2244,1656
$GC,19252,1.03,276.7,131.4,7.8,930,19256,0.00,2.62,0.00,0.000,4,0.000,0.061,2530,823,1656
$GC,19296,1.03,276.7,127.6,8.3,932,19301,0.00,2.58,0.00,0.000,6,0.000,0.051,2530,2247,1656
$GC,19618,1.03,276.7,103.0,7.5,948,19619,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,1656
$GC,19927,1.03,276.7,79.3,7.2,963,19931,0.00,2.62,0.00,0.000,4,0.000,0.073,2530,3651,1656
$GC,19971,1.03,276.7,75.8,8.7,965,19976,0.00,2.55,0.00,0.000,6,0.000,0.053,2530,2238,1657
$GC,20293,1.03,276.7,53.6,6.2,981,20297,0.00,2.58,0.00,0.000,4,0.000,0.062,2530,827,1658
$GC,20365,1.03,276.7,49.2,6.2,984,20369,0.00,2.55,0.00,0.000,6,0.000,0.050,2530,2240,1656
$GC,20683,1.03,276.7,31.3,7.2,999,20687,0.00,2.60,0.00,0.000,4,0.000,0.060,2530,826,1657
$GC,20746,1.03,276.7,26.7,7.4,1002,20751,0.00,2.58,0.00,0.000,6,0.000,0.050,2530,2245,1656
$GC,21076,1.06,297.4,4.8,5.4,1018,21096,0.00,0.00,17.95,0.595,6,0.000,0.000,2530,2245,1567
$STATE,21111,end climb,SURFACE_DEPTH_REACHED
$STATE,21111,begin surface coast
$FINISH,0.5,1.020336
$STATE,21133,end surface coast,CONTROL_FINISHED_OK
$STATE,21133,begin surface
$SM_CCo,21155,125.40,0.601,0,0,508,557.57
$SM_GC,1.14,0.00,0.00,125.40,0.000,0.000,0.601,70,2245,508,-10.26,0.45,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,17.70
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,676.3,76.6
$24V_AH,23.6,32.261
$10V_AH,10.2,16.199
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.350,109.500,397.900,125.400,0.000,92.898,166.045,424.658,19.000,0.000,0.000,18.246,1782.612,16856.451,714.298,1987.511,1027.240,0.000,1680.350,0.000,1947.392,0.000,41.307
$DEVICE_MAMPS,171.808,79.768,1122.121,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,748.681,703.911,609.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50568,1021
$CAP_FILE_SIZE,142438,0
$CFSIZE,260165632,247308288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140708,113931,6300.059,-1310.520,39,1.4,46,-12.1